3D Object Discovery and Modeling Using Single RGB-D Images Containing Multiple Object Instances

Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an identical object contained in a single RGB-D image. The proposed method does not rely on segmentation, scene knowledge, or user input, and thus is easily scalable. Our method aims to find recurrent patterns in a single RGB-D image by utilizing appearance and geometry of the salient regions. We extract keypoints and match them in pairs based on their descriptors. We then generate triplets of the keypoints matching with each other using several geometric criteria to minimize false matches. The relative poses of the matched triplets are computed and clustered to discover sets of triplet pairs with similar relative poses. Triplets belonging to the same set are likely to belong to the same object and are used to construct an initial object model. Detection of remaining instances with the initial object model using RANSAC allows to further expand and refine the model. The automatically generated object models are both compact and descriptive. We show quantitative and qualitative results on RGB-D images with various objects including some from the Amazon Picking Challenge. We also demonstrate the use of our method in an object picking scenario with a robotic arm

QUOTUS: The Structure of Political Media Coverage as Revealed by Quoting Patterns

Given the extremely large pool of events and stories available, media outlets need to focus on a subset of issues and aspects to convey to their audience. Outlets are often accused of exhibiting a systematic bias in this selection process, with different outlets portraying different versions of reality. However, in the absence of objective measures and empirical evidence, the direction and extent of systematicity remains widely disputed. In this paper we propose a framework based on quoting patterns for quantifying and characterizing the degree to which media outlets exhibit systematic bias. We apply this framework to a massive dataset of news articles spanning the six years of Obama's presidency and all of his speeches, and reveal that a systematic pattern does indeed emerge from the outlet's quoting behavior. Moreover, we show that this pattern can be successfully exploited in an unsupervised prediction setting, to determine which new quotes an outlet will select to broadcast. By encoding bias patterns in a low-rank space we provide an analysis of the structure of political media coverage. This reveals a latent media bias space that aligns surprisingly well with political ideology and outlet type. A linguistic analysis exposes striking differences across these latent dimensions, showing how the different types of media outlets portray different realities even when reporting on the same events. For example, outlets mapped to the mainstream conservative side of the latent space focus on quotes that portray a presidential persona disproportionately characterized by negativity.Comment: To appear in the Proceedings of WWW 2015. 11pp, 10 fig. Interactive visualization, data, and other info available at http://snap.stanford.edu/quotus